This paper presents an DTC-PWM (Direct Torque Control-Pulse Width Modulation) of PMSM (Permanent Magnet Synchronous Motor). The proposed DTC-PWM method combines a conventional DTC and PWM approach for switching signal generation. The actual torque is estimated by the torque estimator in conventional method, but the switching signal is generated by PWM method according to the switching rules and torque error. A effective voltage vector and zero vector are used to generate the switching signals and asymmetric switching method is applied. A simple calculation of PWM without any complex determination of space vector can assure the constant switching frequency with an constant torque and flux. The proposed torque control scheme for PMSM is verified by experimental results.